CN112121388B - Multi-axis control method and multi-axis control device of table tennis serving robot - Google Patents

Multi-axis control method and multi-axis control device of table tennis serving robot Download PDF

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CN112121388B
CN112121388B CN202010946310.8A CN202010946310A CN112121388B CN 112121388 B CN112121388 B CN 112121388B CN 202010946310 A CN202010946310 A CN 202010946310A CN 112121388 B CN112121388 B CN 112121388B
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table tennis
axis
time
displacement
function
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CN112121388A (en
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刘福川
张海波
杨跞
许楠
张文
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Shanghai Chuangyi Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
    • A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis

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Abstract

The application provides a multi-axis control method and a multi-axis control device of a table tennis service robot, wherein the multi-axis control method of the table tennis service robot comprises the following steps: obtaining an effective serving track of a table tennis; and according to the effective serving track of the table tennis, controlling the axes of N-1 joints of the table tennis serving robot by adopting a PWM (pulse-width modulation) control mode according to the joint number N of the table tennis serving robot, and controlling the axes of the rest 1 joint of the table tennis serving robot by adopting a CAN (controller area network) bus control mode. This application adopts the singlechip to realize table tennis service robot's multi-axis control, can greatly reduced hardware cost, and control process is simple, clear.

Description

Multi-axis control method and multi-axis control device of table tennis serving robot
Technical Field
The application belongs to the technical field of motor control, and particularly relates to a multi-axis control method and a multi-axis control device of a table tennis service robot.
Background
Table tennis is popular with the nation as a ball, so more and more people participate in the training of table tennis. However, at present, the table tennis training mainly depends on a coach to serve balls or a pitching machine to serve balls. It is not uncommon to implement a coach style serve in a robotic fashion. In order to better assist the athlete in performing daily practice and training, a robot capable of serving balls is needed to assist the athlete in training.
At the present stage, the realization mode of multi-axis synchronous control of the table tennis service robot is less. The existing industrial robot or service robot is controlled by adopting the control mode of an industrial personal computer or a control board card. The industrial personal computer is a mainboard which takes a CPU unit with an X86 framework or an ARM cortex framework as a main controller, and the control is mainly in a bus control form, for example, EtherCAT bus control. The scheme of the robot multi-shaft motor synchronous control is transplanted to the control of the table tennis service robot, and although the multi-shaft control of the table tennis service robot can be realized, the control process is excessively redundant and complicated and the realization cost is high.
Disclosure of Invention
In order to overcome the problems in the related art at least to a certain extent, the application provides a multi-axis control method and a multi-axis control device of a table tennis service robot.
According to a first aspect of embodiments of the present application, there is provided a multi-axis control method of a table tennis service robot, including the steps of:
obtaining an effective serving track of a table tennis;
and according to the effective serving track of the table tennis, controlling the axes of N-1 joints of the table tennis serving robot by adopting a PWM (pulse-width modulation) control mode according to the joint number N of the table tennis serving robot, and controlling the axes of the rest 1 joint of the table tennis serving robot by adopting a CAN (controller area network) bus control mode.
In the multi-axis control method of the table tennis service robot, the steps are that according to the effective service trajectory of the table tennis, and according to the number N of joints of the table tennis service robot, the axes of N-1 joints of the table tennis service robot are controlled by adopting a PWM control form, and the specific process of controlling the axes of the remaining 1 joints of the table tennis service robot by adopting a CAN bus control form is as follows:
calculating the periodic tasks of the axes at each joint of the table tennis serving robot;
setting N +1 time slices according to the joint number N of the table tennis service robot;
sending PWM pulses to a jth axis in a jth time slice, wherein j is more than or equal to 1 and less than or equal to N-1, and j is an integer;
sending a synchronous message to a CAN bus of an Nth shaft in an Nth time slice and acquiring state reply information through the CAN bus;
sending a CAN position instruction to the Nth axis in the (N +1) th time slice;
judging whether the axis at each joint reaches the corresponding track target displacement or not, and if so, ending the running track; otherwise, entering the next periodic task, and sending the PWM pulse to the first axis again at the 1 st time slice.
Further, in the step of calculating the periodic tasks of the axes at the joints of the table tennis serving robot, the periodic tasks of the axes at the joints are obtained through calculation according to the track of the axes at the joints, and the track of the axes at the joints refers to a function of displacement and time and a function of speed and time of the axes at the joints;
the task of the shaft at each joint in a certain control period is to move to the target displacement of the period at the movement speed of the period.
Furthermore, the process of calculating the periodic tasks of the axes at each joint of the table tennis serving robot in the steps is as follows:
actual target motion displacement pfSatisfy the requirement of
Figure BDA0002675394040000021
The speed can reach the maximum speed vmaxThe motion track comprises a function of motion displacement p and time t and a function of speed v and time t;
wherein the function of the motion displacement p and the time t is:
Figure BDA0002675394040000031
the function of the velocity v with time t is:
Figure BDA0002675394040000032
in the formula (I), the compound is shown in the specification,
Figure BDA0002675394040000033
actual target motion displacement pfSatisfy the requirement of
Figure BDA0002675394040000034
The speed cannot reach the maximum speed vmaxStarting deceleration, wherein the motion track function comprises a function of motion displacement p and time t and a function of speed v and time t;
wherein the function of the motion displacement p and the time t is:
Figure BDA0002675394040000035
the function of the velocity v with time t is:
Figure BDA0002675394040000036
in the formula (I), the compound is shown in the specification,
Figure BDA0002675394040000037
furthermore, according to the function of the dynamic displacement p and the time t, the motion displacement delta p of the ith axis in the (n +1) th period is obtainediThe operational expression of ((n +1) T) is:
Δpi((n+1)T)＝pi((n+1)T)-pi(nT)；
in the formula, pi((n +1) T) is pi(T) target Displacement value at time (n +1) T, pi(nT) is pi(t) target displacement value, p, at time nTi(T) is a function of time T and position p, T representing the control period.
Furthermore, according to the function of the speed v and the time t, the movement speed of the ith axis in the (n +1) th period and the movement displacement p of the target are obtainedfSatisfy the requirement of
Figure BDA0002675394040000041
The expression in the case of (1) is:
Figure BDA0002675394040000042
obtaining the motion speed of the ith axis in the (n +1) th period and the motion displacement p of the targetfSatisfy the requirement of
Figure BDA0002675394040000043
The expression in the case of (1) is:
Figure BDA0002675394040000044
further, the duration of each time slice is
Figure BDA0002675394040000045
Where T denotes a control period.
Further, the pulse frequency f of the PWM pulse sent to the j axis in the j time slicePWMComprises the following steps:
fPWM(t)＝kjv(t)；
the number of pulses is CPWMComprises the following steps:
CPWM(t)＝kjpj(t)；
the pulse frequency of the (n +1) th cycle is:
fPWM((n+1)T)＝kjv((n+1)T)；
the number of pulses in the (n +1) th cycle is:
ΔCPWM((n+1)T)＝CPWM((n+1)T)-CPWM(nT)；
by in the (n +1) th cycle, at a pulse frequency fPWM((n +1) T) sending Δ C to the j-th axisPWM(n +1) T pulses to complete the task of the jth time slice;
wherein k isjIs the pulse angle coefficient of the j-th axis, vj(t) is a function of speed and time on the j-th axis, pj(t) is a function of the displacement of the j-th axis and time, j is more than or equal to 1 and less than or equal to N-1, and j is an integer.
Further, the step of judging whether the axis at each joint reaches the corresponding target displacement of the track mainly comprises the step of comparing the displacement p (t) at the current moment with the target displacement pfIf p (t) ═ pfIf the target displacement is reached, the operation is finished; if p (t)<pfIf the target displacement does not reach, the next periodic task is entered again.
According to a second aspect of embodiments of the present application, there is also provided a multi-axis control apparatus of a table tennis service robot, including:
a memory and a processor;
the processor is configured to execute the multi-axis control method of the table tennis service robot of any one of the above based on instructions stored in the memory.
According to the above embodiments of the present application, at least the following advantages are obtained: this application adopts the singlechip to realize table tennis service robot's multi-axis control, can greatly reduced hardware cost. The multi-joint control system has the advantages of being simple in pulse control implementation form and low in implementation cost, and has the advantage of being capable of reading and replying the state of the CAN bus. This application divides into a plurality of time slices with whole control through the timer, realizes the control to each axle through each time slice, and the different control task of every time slice operation realizes that the logic is simple and more clear.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.
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The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart of a multi-axis control method of a table tennis service robot according to an embodiment of the present disclosure.
Fig. 2 is a flowchart of a control process in a multi-axis control method of a table tennis service robot according to an embodiment of the present application.
Fig. 3 is a schematic view of a trapezoidal curve in a trapezoidal plan of motion of each axis of the table tennis service robot in the multi-axis control method of the table tennis service robot according to the embodiment of the present application.
Fig. 4 is a schematic diagram of a triangular curve in a trapezoidal planning of motions of each axis of the table tennis service robot in the multi-axis control method of the table tennis service robot according to the embodiment of the present application.
Fig. 5 is a second flowchart of a multi-axis control method of a table tennis service robot according to an embodiment of the present application.
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the present application, reference will now be made to the accompanying drawings and detailed description, wherein like reference numerals refer to like elements throughout.
The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, "first," "second," …, etc., are not specifically intended to mean in a sequential or chronological order, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.
With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
References to "plurality" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".
As used herein, the terms "substantially", "about" and the like are used to modify any slight variation in quantity or error that does not alter the nature of the variation. In general, the range of slight variations or errors that such terms modify may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. It should be understood by those skilled in the art that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
The multi-axis control method of the table tennis service robot is used for controlling the action of a simulator to achieve the table tennis service robot for serving in a coach mode, multi-axis control over the table tennis service robot is achieved through the single chip microcomputer, the requirement of multi-axis control over the robot can be met, and the purposes of being simple in control process and low in cost can be achieved.
Fig. 1 is a flowchart of a multi-axis control method of a table tennis service robot according to an embodiment of the present disclosure.
As shown in fig. 1, the multi-axis control method of the table tennis service robot provided by the present application includes the following steps:
s1, obtaining an effective serving track of the table tennis;
s2, according to the effective serving trajectory of the table tennis, and according to the number N of joints of the table tennis serving robot, controlling the axes of N-1 joints of the table tennis serving robot in a PWM (pulse width modulation) control mode, and controlling the axes of the remaining 1 joints of the table tennis serving robot in a CAN bus control mode, as shown in fig. 2, the specific process is as follows:
s21, calculating the periodic tasks of the axes of the joints of the table tennis serving robot;
the periodic task of each joint axis is obtained through calculation according to the track of each joint axis, and the track of each joint axis refers to a function of displacement and time and a function of speed and time of each joint axis.
At the beginning of each new control cycle, the movement displacement of the axes at each joint and the movement speed of the control cycle are calculated.
The task of the shaft at each joint in the control period is to move to the target displacement of the period at the movement speed of the period.
The axes at each joint are designed in a trapezoidal way, the acceleration is a,according to whether the speed v reaches the maximum planned speed vmaxHere, two cases are generally discussed:
first case, actual target motion displacement pfIs larger, i.e. is
Figure BDA0002675394040000071
The speed can reach the maximum speed vmaxThe final velocity profile is shown as a trapezoidal curve in fig. 3.
Second case, actual target motion displacement pfIs smaller, i.e.
Figure BDA0002675394040000072
The speed cannot reach the maximum speed vmaxDeceleration begins and the final speed profile is shown as a triangular curve in figure 4.
In the case of the first case, it is,
Figure BDA0002675394040000081
the motion trajectory function includes a function of motion displacement p and time t and a function of velocity v and time t.
Wherein the function of the motion displacement p and the time t is:
Figure BDA0002675394040000082
the function of the velocity v with time t is:
Figure BDA0002675394040000083
in the formula (1) and the formula (2),
Figure BDA0002675394040000084
in the case of the second case, it is,
Figure BDA0002675394040000085
the motion trajectory function comprises a function of motion displacement p and time t andvelocity v as a function of time t.
Wherein the function of the motion displacement p and the time t is:
Figure BDA0002675394040000086
the function of the velocity v with time t is:
Figure BDA0002675394040000087
in the formulae (3) and (4),
Figure BDA0002675394040000088
according to the function of the motion displacement p and the time t, the motion displacement delta p of the ith axis in the (n +1) th period can be obtainediThe operational expression of ((n +1) T) is:
Δpi((n+1)T)＝pi((n+1)T)-pi(nT) (5)
in the formula (5), pi((n +1) T) is pi(T) target Displacement value at time (n +1) T, pi(nT) is pi(t) target displacement value, p, at time nTi(T) is a function of time T and position p, T representing the control period.
According to the function of the speed v and the time t, the expression of the motion speed of the ith axis in the (n +1) th period in the first case can be obtained as follows:
Figure BDA0002675394040000091
the expression of the motion speed of the ith axis in the (n +1) th cycle in the second case can be obtained as follows:
Figure BDA0002675394040000092
thus obtainingMotion displacement deltap of ith axis in n +1 th cyclei((n +1) T) and the velocity of motion vi((n+1)T)。
In the embodiment of the present application, each joint of the table tennis service robot is provided with one corresponding shaft, that is, the number of joints is the same as the number of shafts, and is N.
S22, setting N +1 time slices according to the joint number N of the table tennis service robot, and obtaining the duration of each time slice as
Figure BDA0002675394040000093
And S23, sending a PWM pulse to the j axis at the j time slice.
According to the motion displacement and the motion speed of the j-th axis, the pulse generating unit of the j-th axis generates the pulse of the motion displacement in the period, and the pulse frequency is the motion speed of the j-th axis.
The motion angle of a general motor has some correspondence with the number of pulses, for example, a stepper motor with a subdivision number of 2000 requires 2000 pulses to rotate 360 degrees, and therefore, the pulse angle coefficient k is 2000 divided by 360 to obtain the number of pulses per angle. Thus, the number of pulses is obtained by multiplying the angular displacement by k. The pulse frequency is obtained by multiplying the movement velocity by a factor k.
Pulse frequency fPWMComprises the following steps:
fPWM(t)＝kjv(t) (8)
number of pulses CPWMComprises the following steps:
CPWM(t)＝kjpj(t) (9)
the pulse frequency of the (n +1) th cycle is:
fPWM((n+1)T)＝kjv((n+1)T) (10)
the number of pulses in the (n +1) th cycle is:
ΔCPWM((n+1)T)＝CPWM((n+1)T)-CPWM(nT) (11)
in the (n +1) th cycle, the pulse frequency f according to the formula (10)PWM(n +1) T to j-th axis sending the formula (11) calculationObtained Δ CPWMThe (n +1) T pulses can complete the task of the jth time slice. Wherein k in the calculation processjIs the pulse angle coefficient of the j-th axis, vj(t) is a function of speed and time on the j-th axis, pj(t) is the displacement of the j-th axis as a function of time. Wherein j is more than or equal to 1 and less than or equal to N-1, and j is an integer.
And S24, sending a synchronous message to the CAN bus of the Nth shaft in the Nth time slice and acquiring the state reply information through the CAN bus.
In the application, a controller is used as a CAN master station, a driver is used as a slave station, the content of the synchronization frame is set to be 0x80, the controller sends 0x80 to a CAN bus to be used as a CAN frame synchronization instruction, the driver replies a state word frame of servo drive to the controller, and the controller judges whether the servo drive has state monitoring information such as error reporting according to the state word frame of the servo drive.
And S25, sending a CAN position command to the Nth axis at the (N +1) th time slice.
The position command is obtained through calculation according to the motion track of the Nth axis, the target displacement of the Nth axis in the period is shown in a formula (1) or a formula (3), the target displacement p ((N +1) T) is sent to the Nth axis of the servo driver in the N +1 th period through the target displacement command in the CANOpen protocol, the servo driver supporting the position interpolation mode can perform interpolation operation, and the motor is controlled to run to the target displacement. Among them, the servo driver supporting the CAN protocol belongs to the prior art and is a very mature product.
S26, judging whether the axis of each joint reaches the corresponding track target displacement, if so, ending the running track, returning to the step S1, and reacquiring the effective serving track of the table tennis; otherwise, the process returns to step S23 to enter the next periodic task.
Judging whether the axis of each joint reaches the corresponding target displacement of the track, mainly comparing the displacement p (t) at the current moment with the target displacement pfIf p (t) ═ pfIf the target displacement is reached, the operation is finished; if p (t)<pfIf the target displacement is not reached, the process returns to step S23 to enter the next periodic task.
In order to more clearly understand the flow of the multi-axis control method of the table tennis service robot, a specific embodiment is described below.
The table tennis service robot is assumed to be a 5-axis robot, the axes of 4 joints of the table tennis service robot are controlled in a PWM control mode, and the axes of the rest 1 joint of the table tennis service robot are controlled in a CAN bus control mode. The control mode of PWM is realized by sending pulse, and the control of CAN bus is realized by sending CAN message. By adopting the CAN bus, more state information of the controlled shaft CAN be acquired, for example, a state word indicating whether the servo has reported errors or not is acquired. The control period T is 6 ms.
The axes of the rest 1 joints of the table tennis service robot controlled by the control form of the CAN bus are swing axes, and more state information such as the current speed, the moment and the like CAN be acquired by the CAN bus. Since the speed and the moment determine the ball-out speed of the current table tennis service robot, etc., the axis information needs to be separately acquired to realize the desired service trajectory.
Fig. 5 is a second flowchart of a multi-axis control method of a table tennis service robot according to an embodiment of the present application.
As shown in fig. 5, 1 16-bit timer of the single chip microcomputer is used as a precise timing time base, the timer interrupt is set as the highest priority, the 1ms timer reaches the time, and the timer interrupt is generated, so the timer divides the whole control into 6 1ms time slices, the 1ms time slice realizes the cooperative control of each axis, each 1ms runs different control tasks, and the control tasks include instructions required by multi-axis control, such as the issuing of PWM pulses, the issuing of CAN synchronization messages, and the issuing of CAN position instructions.
The PWM pulse is sent to the first axis at 1 ms.
The PWM pulse is sent to the second axis at 2 ms.
The PWM pulse is sent to the third axis at 3 ms.
A PWM pulse is sent to the fourth axis at 4 ms.
And sending a synchronous message to a CAN bus of a fifth shaft in the 5 th ms and acquiring state reply information through the CAN bus.
A CAN position command is sent to the sixth axis at 6 ms.
Judging whether the axis at each joint reaches the corresponding track target displacement or not, and if so, ending the running track; otherwise, the next 6ms periodic task is entered.
Through the multi-axis task execution control process taking 6ms as the period, the motion trail of each joint of the robot required by the table tennis service robot is realized.
Compared with the scheme that the CPU unit of the traditional industrial personal computer and control card based on the X86 architecture or ARM cortex architecture is used as the main controller, the multi-axis control of the table tennis service robot is realized by adopting the single chip microcomputer, and the hardware cost can be greatly reduced.
The multi-joint control system has the advantages of being simple in pulse control implementation form and low in implementation cost, and has the advantage of being capable of reading and replying the state of the CAN bus.
The whole control is divided into each time length of
Figure BDA0002675394040000121
The time slices realize the control of each axis through each time slice, each time slice runs different control tasks, and the realization logic is simple and clearer.
In an exemplary embodiment, the present application further provides a multi-axis control apparatus of a table tennis service robot, which includes a memory and a processor coupled to the memory, wherein the processor is configured to execute a multi-axis control method of a table tennis service robot in any one of the embodiments of the present application based on instructions stored in the memory.
The memory may be a system memory, a fixed nonvolatile storage medium, or the like, and the system memory may store an operating system, an application program, a boot loader, a database, other programs, and the like.
In an exemplary embodiment, the present application further provides a computer storage medium, which is a computer readable storage medium, for example, a memory including a computer program, which is executable by a processor to perform the multi-axis control method of the table tennis service robot in any one of the embodiments of the present application.
The embodiments of the present application described above may be implemented in various hardware, software code, or a combination of both. For example, the embodiments of the present application may also represent program codes for executing the above-described methods in a Digital Signal Processor (DSP). The present application may also relate to a variety of functions performed by a computer processor, digital signal processor, microprocessor, or Field Programmable Gate Array (FPGA). The processor described above may be configured in accordance with the present application to perform certain tasks by executing machine-readable software code or firmware code that defines certain methods disclosed herein. Software code or firmware code may be developed to represent different programming languages and different formats or forms. Different target platforms may also be represented to compile the software code. However, different code styles, types, and languages of software code and other types of configuration code for performing tasks according to the present application do not depart from the spirit and scope of the present application.
The foregoing represents only exemplary embodiments of the present application and all equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application should fall within the scope of the present application.

Claims (9)

1. A multi-axis control method of a table tennis service robot is characterized by comprising the following steps:
obtaining an effective serving track of a table tennis;
according to the effective serving track of the table tennis, according to the joint number N of the table tennis serving robot, the axes of N-1 joints of the table tennis serving robot are controlled in a PWM control mode, the axes of the remaining 1 joints of the table tennis serving robot are controlled in a CAN bus control mode, and the specific process is as follows:
calculating the periodic tasks of the axes at each joint of the table tennis serving robot;
setting N +1 time slices according to the joint number N of the table tennis service robot;
sending PWM pulses to a jth axis in a jth time slice, wherein j is more than or equal to 1 and less than or equal to N-1, and j is an integer;
sending a synchronous message to the NCAN bus of the first shaft in the Nth time slice and acquiring state reply information through the CAN bus;
sending a CAN position instruction to the Nth axis in the (N +1) th time slice;
judging whether the axis at each joint reaches the corresponding track target displacement or not, and if so, ending the running track; otherwise, entering the next periodic task, and sending the PWM pulse to the first axis again at the 1 st time slice.
2. The multi-axis control method of the table tennis service robot as claimed in claim 1, wherein the step of calculating the periodic task of the axes at each joint of the table tennis service robot is performed according to the trajectory of the axes at each joint, and the trajectory of the axes at each joint refers to a function of the displacement and time of the axes at each joint and a function of the speed and time;
the task of the shaft at each joint in a certain control period is to move to the target displacement of the period at the movement speed of the period.
3. The multi-axis control method of the table tennis service robot as claimed in claim 2, wherein the step of calculating the periodic tasks of the axes at the joints of the table tennis service robot comprises:
actual target motion displacement pfSatisfy the requirement of
Figure FDA0003330902470000011
The speed can reach the maximum speed vmaxThe motion track comprises a function of motion displacement p and time t and a function of speed v and time t;
wherein the function of the motion displacement p and the time t is:
Figure FDA0003330902470000021
the function of the velocity v with time t is:
Figure FDA0003330902470000022
in the formula (I), the compound is shown in the specification,
Figure FDA0003330902470000023
actual target motion displacement pfSatisfy the requirement of
Figure FDA0003330902470000024
The speed cannot reach the maximum speed vmaxStarting deceleration, wherein the motion track function comprises a function of motion displacement p and time t and a function of speed v and time t;
wherein the function of the motion displacement p and the time t is:
Figure FDA0003330902470000025
the function of the velocity v with time t is:
Figure FDA0003330902470000026
in the formula (I), the compound is shown in the specification,
Figure FDA0003330902470000027
4. the multi-axis control method of a table tennis service robot as claimed in claim 3, wherein the ith axis is obtained as a function of the dynamic displacement p and the time tMotion displacement Δ p of n +1 th cycleiThe operational expression of ((n +1) T) is:
Δpi((n+1)T)＝pi((n+1)T)-pi(nT)；
in the formula, pi((n +1) T) is pi(T) target Displacement value at time (n +1) T, pi(nT) is pi(t) target displacement value, p, at time nTi(T) is a function of time T and position p, T representing the control period.
5. The multi-axis control method of a table tennis service robot as claimed in claim 3, wherein the motion speed of the ith axis in the (n +1) th cycle is obtained as the target motion displacement p as a function of the speed v and the time tfSatisfy the requirement of
Figure FDA0003330902470000031
The expression in the case of (1) is:
Figure FDA0003330902470000032
obtaining the motion speed of the ith axis in the (n +1) th period and the motion displacement p of the targetfSatisfy the requirement of
Figure FDA0003330902470000033
The expression in the case of (1) is:
Figure FDA0003330902470000034
6. the multi-axis control method of a table tennis service robot of claim 1, wherein the duration of each time slice is
Figure FDA0003330902470000035
Where T denotes a control period.
7. The multi-axis control method of table tennis service robot of claim 1, wherein the pulse frequency f of the PWM pulse transmitted to the j-th axis at the j-th time slicePWMComprises the following steps:
fPWM(t)＝kjv(t)；
the number of pulses is CPWMComprises the following steps:
CPWM(t)＝kjpj(t)；
the pulse frequency of the (n +1) th cycle is:
fPWM((n+1)T)＝kjv((n+1)T)；
the number of pulses in the (n +1) th cycle is:
ΔCPWM((n+1)T)＝CPWM((n+1)T)-CPWM(nT)；
by in the (n +1) th cycle, at a pulse frequency fPWM((n +1) T) sending Δ C to the j-th axisPWM(n +1) T pulses to complete the task of the jth time slice;
wherein k isjIs the pulse angle coefficient of the j-th axis, vj(t) is a function of speed and time on the j-th axis, pj(t) is a function of the displacement of the j-th axis and time, j is more than or equal to 1 and less than or equal to N-1, and j is an integer.
8. The multi-axis control method of a ping-pong service robot as claimed in claim 1, wherein the determining whether the axes of the joints have reached the corresponding target displacement of the trajectory is mainly by comparing the displacement p (t) at the current time with the target displacement pfIf p (t) ═ pfIf the target displacement is reached, the operation is finished; if p (t)<pfIf the target displacement does not reach, the next periodic task is entered again.
9. A multi-axis control device of a table tennis service robot, comprising:
a memory and a processor;
the processor is configured to execute the multi-axis control method of the table tennis service robot of any of claims 1-8 based on instructions stored in the memory.
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